AT518481B1 - System and method for the spatial movement of an object - Google Patents

Abstract

The invention relates to a system (1) and a method for the spatial movement of an object (2) by means of a manipulator (3), which object (2) is coupled to the manipulator (3) at least temporarily. In this case, a movement specification means (5) is provided, which is at least temporarily manually freely movable in space by an operator, and which movement specification means (5) is provided at least temporarily for physical coupling with the object to be moved (2). In its coupling state, the movement command means (5) for the delivery of movement commands by the operator to a control device (6, 6 ') of the manipulator (3) is provided. Inertial sensors for detecting at least orientation changes of the motion specification means (5) are integrated in the movement specification means (5). An orientation determination unit (8, 8 ') serves for the continuous determination of the changing orientations of the motion specification means (5) in space, wherein the control engineering execution of at least one of the motion commands is at least partially dependent on the orientation of the motion specification means (5).

Description

Description: The invention relates to a method for the spatial movement of an object by means of a manipulator, in particular by means of an industrial robot, and a method for operating a manipulator controlled by an electronic control device, which manipulator is provided for the spatial movement of an object.

The specified invention can be used especially in the field of robot- or drive-assisted assembly. The system and method according to the invention can be used advantageously wherever electrically controlled lifting devices are used for moving, joining and assembling large and sometimes heavy components, for example in the partially automated production of vehicles or the like.

While industrial robots in the field of mass production of vehicles can perform various machining and assembly processes autonomously, that is, without further involvement of people, there are cases in the field of finishing and when assembling larger components where there is an exact positioning or Accurate threading and consideration of tolerances and compliance are important. Fully automatic systems quickly reach their limits, especially with system-related, sporadic tolerances. In particular, there are assembly and joining processes in which precise visual control and directing or influencing of the process by a person is crucial. This requires that the operator can move the component to be added freely in several dimensions, but the weight of the component should be carried or moved largely by technical aids for reasons of ergonomics, so that the fitter can handle the component with comparatively little effort can.

So far, hoists have sometimes been used for this purpose, which could only compensate for the vertical force component mainly or entirely due to the weight of a component and the movement in all other dimensions was carried out solely by the force of the fitter. There are also handling devices, in particular crane systems, that enable drive-assisted handling of workpieces for their movement in all other dimensions.

The components themselves, such as windshields, vehicle seats, engines, etc., are often taken up by special holding devices, which holding devices are attached to a boom or robot arm or can be coupled thereto. In the case of robots, for example, various operating elements are arranged directly at predetermined locations on the holding device, with which the operating direction of the holding device can be specified by the operator.

According to a known embodiment, an electronic movement default means, for example in the manner of a handle, can be provided, as described in DE102009012219A. This handle can be attached by means of releasable fastening means to a position on the workpiece that is comfortable for the fitter in the respective situation. The corresponding handle has a control element or a force / torque sensor which acts as a rule which acts in a multidimensional manner and which the installer actuates to issue travel commands in the direction of the desired travel or direction of rotation. Since the handle can be attached to different positions and also in different orientations with respect to the workpiece and in relation to the world coordinate system of the robot, at least the orientation of the handle with respect to the world coordinate system of the robot must be known, so that the direction of actuation of the control element, which initially is detected with reference to a local coordinate system of the movement default means, can be translated in the corresponding direction with reference to the world coordinate system. For the purpose of detecting the orientation of the handle on the component, DE102009012219A1 discloses the use of gravity or acceleration sensors.

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Patent Office In the previously known embodiment according to DE102009012219A1, it has not been taken into account that the position and orientation of the handle in space cannot be determined directly via the acceleration sensors, but can only be determined on the basis of a known reference position. In addition, the positions and orientations of the handle present at the respective points in time must be determined by continuous integration of the sensor signals provided in a time-discrete manner, the sensor signals changing as a result of the movements being carried out. Furthermore, such sensor signals are associated with errors, in particular with random or systematic errors, which add up over time due to the integration and gradually lead to ever larger deviations between the calculated and the actual position and orientation. In the device according to DE102009012219A1, it will therefore be necessary to recalibrate the device at regular intervals or in unpredictably varying time periods. The actual position of the handle in space must be determined by taking and confirming a known reference position. The time intervals for such a recalibration are currently in the order of a few minutes in relation to conventional or economically expedient acceleration sensors, provided one is limited to determining the orientation and ignoring a determination of the position in space.

These regular recalibrations or recalibrations can sometimes be integrated into the production cycle in the case of cyclic production processes, but they nevertheless represent additional, undesirable actions on the part of the operator. In particular, these recalibrations that are required at regular or irregular time intervals can be used or handled Impair workflow and cause additional manufacturing times. In addition, some manufacturing cycles may take longer, which means that an interim recalibration is necessary.

In DE102014004919A1 a handle for releasable attachment to a workpiece is also disclosed, which handle is provided for the delivery of movement commands to a robot, the orientation of the handle is also determined by means of acceleration sensors and the movement commands depending on the orientation of the Griffs affect the robot movements. The process of recalibration is carried out here by predetermined or known test movements of the robot after the handle has been coupled to the robot with the workpiece interposed, so to speak. During this short test movement of the robot, the acceleration sensors respond in the handle. From the test movement of the robot detected by the acceleration sensors in the handle, conclusions are then drawn as to the actual orientation of the movement specification means in relation to the world coordinate system of the robot. Subsequent changes in the position of the handle are tracked and calculated by means of the acceleration sensors integrated in the handle. The inherent problem of the temporal drift of the orientation of the handle determined by sensor and computer according to the sensor error remains. In addition, a new calibration must be carried out, for example, after a long standstill or after a longer or highly dynamic movement cycle. Apart from the fact that it is not possible to carry out such test movements to recalibrate the entire system in all cases or not with all types of workpieces, especially not with very large components or with very limited space, these test movements require a certain amount of time that the cycle times in series production undesirably extended.

The object of the present invention was to overcome the disadvantages of the prior art and to provide an improved device and an improved method by means of which a user is able to manipulate manipulators in a simple and as intuitive way as possible, in particular of industrial robots.

This object is achieved by devices and methods according to the claims.

A technical system constructed according to the invention serves for the spatial movement of an object by means of a manipulator. Such an object is to be understood in particular as components or workpieces to be assembled. The object is at least over 2/26

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Patent office going with the manipulator, for example an industrial robot, motion-coupled. The corresponding system further comprises a movement specification means which can be moved freely at least temporarily by an operator in the room, and which movement specification is provided at least temporarily for physical or mechanical coupling with the object to be moved. In its active coupling state with respect to the object, the movement specification means is provided for the issuing of movement commands by the operator in relation to a control device of the manipulator. Inertial sensors in the movement specification means serve at least to record changes in the orientation of the movement specification means in relation to the three-dimensional space, and an orientation determination unit is provided for continuously determining the changing orientations of the movement specification means in space. The control-related execution or implementation of at least one of the movement commands is at least partially dependent on the orientations of the movement default means that vary depending on the time and movement. In addition, an electronic evaluation or detection means is provided, which puts the system into a first operating mode when the movement specification means is moved freely by hand in space, and which detection means puts the system into a second operating mode when the orientation of the movement specification means due to mechanical contacting or Coupling with the object is defined or is determined thereby.

[0013] In the first operating mode, the orientation determination unit calculates the changing orientations of the movement specification means based on signals from the inertial sensors in the movement specification means. In contrast, the orientation determination unit in the second operating mode of the system calculates the changing orientations of the movement default means at defined, limited time intervals directly based on information or assumptions on the part of the control device about the known rotational position states of the moving manipulator or the object moved with it. In the second operating mode, the time-changing orientation of the movement specification means is determined, for the calculation of the movement commands for the manipulator, which movement commands are based on the orientation of the movement specification means or are dependent on them, and for the final control of the drive devices of the manipulator, at least at certain time intervals exclusively on the basis of data or information from the control device of the manipulator. At least in these time intervals, the orientation determination is not based on a continuous summation of incremental small changes in orientation or based on an integration of rotational speeds or accelerations. For any plausibility or control measures implemented in the control process, an additional evaluation of the signals from the inertial sensors can be carried out in the second operating mode in accordance with practical further developments, as described below. Furthermore, the orientation can be extrapolated from past values and / or calculated or determined based on the signals of the inertial sensors between the mentioned time intervals for any other points in time for which the control does not provide current information about the rotational positional states.

The orientation determination in the second operating mode is to be understood in such a way that the changing orientations of the movement default means are determined at least at periodic intervals solely on the basis of the rotational position information of the moving manipulator. Nevertheless, this includes the possibility that between these update intervals the orientation by extrapolation and / or also based on the signals of the inertial sensors in a finer time grid, i.e. with a higher temporal resolution.

The terms “changeover” or “change” of the operating mode used in this description are to be understood as synonymous with program jumps or for software-technical implementations. The expression “operating mode” is also a synonym for functional mode or functional behavior of the specified technical system.

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AT 518 481 B1 2018-09-15 Austrian Patent Office [0016] An essential measure in the solution according to the invention is that a position determination or orientation determination including acceleration or. Inertial sensors only take place for the normally relatively short period of time in which the movement default means is actually moved freely by the operator in space, for example from a reference position with a known position and orientation to a position on the respective one that is favorable for guiding the object or workpiece Workpiece or object is brought. In the subsequent period, in which the position of the movement default means is then supported or defined by the respective object, about the state of motion of which information is otherwise available, the continuously changing orientation of the motion default means is determined directly on the basis of the control-side information about the rotary Status of this object.

According to an expedient embodiment, it can also be provided that when the movement specification means is, for example, placed in a resting or resting position after it has been attached to the object to be moved by the operator, that the orientation of the movement specification means determined last is virtually frozen or is saved. Alternatively or in combination with this, provision can also be made to signal this final state of the spatially free movement of the movement presetting means by a specific operating or actuating action by the operator, for example by pressing a button. From the point in time at which the movement specification means is coupled to an object or workpiece to be moved by a robot, the further movement of this object or workpiece and also the movement specification means attached to it is via the axis angle sensors or via the travel path sensors and the geometry of the robot known or can be determined by the control device. In particular, the control device can determine the continuous changes in the orientation of the movement specification means with the help of the “own” information or data, or the changing orientation information about the movement specification means can be continuously updated with respect to the space.

It is already sufficient if the orientation of the movement specification means coupled to the object is calculated directly from the rotary position information of the manipulator at least in relatively short time intervals of, for example, 0.5 s and if between these times the orientation is based on the last orientation information determined in this way either extrapolation or based on the signals from the inertial sensors. The errors occurring in these short time intervals are negligible for the application under consideration and are eliminated again with the next value for the orientation determined directly on the rotary position information of the manipulator, whereby an increase in the drift error in this phase is excluded. Such a computational extrapolation or an incremental, sensor-guided determination of the changed orientation between the points in time with the sole determination from the manipulator pose can be expedient if the position information cannot be provided by the manipulator control with the speed or frequency or rasterization as it is for the transformation and transmission of the movement specifications or the inputs of the operator to the manipulator control are required.

As a result, the drift occurs according to the error of the acceleration or inertial sensors only in the normally short time in which the movement default means is actually moved freely in space by hand. As a result, those intervals in which recalibration of the system is required can be significantly extended. In particular, no recalibration is necessary during a longer-lasting joining or assembly process, during which the movement specification means remains coupled to the object.

By using information or data from the control device with regard to the state of motion of the object or the manipulator and by comparing it with the measured values detected by the inertial sensors together with the calculated information

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According to an expedient measure, the patent office about the current orientation of the movement specification means can also be checked whether the movement specification means is coupled to the object and / or whether an orientation of the movement specification means calculated on the basis of the data of the inertial sensors is calculated with sufficient accuracy with the actual or with the control Alignment, in particular with the alignment of the movement specification means determined on the basis of the internal control data. If, due to the drift or the sensor errors, the orientation determined by the sensor no longer corresponds to the direction of the object movement determined by data technology, or the movement specification means unintentionally detaches from the object during the manipulator movement, this can be a serious deviation between the object movement known from the control and the measured motion can be detected. Then, in order to avoid the risk of an unwanted or uncontrolled manipulator movement, a running movement can be stopped immediately or a renewed movement only possible after the system has been recalibrated.

An advantage of using inertial sensors is that apart from a known or predefined reference position, no special external devices, such as transmitting or receiving devices for position signals and no local or global position determination systems, are required. This favors the most cost-effective provision of the system according to the invention, since complex hardware and complex system installations can be dispensed with. In addition, the inertial sensors required for the application in question have now become sufficiently precise and have become inexpensive, compact and reliable mass-produced goods. The inertial sensors that are preferably used for the system according to the invention, in particular based on semiconductors or in MEMS technology (micro-electro-mechanical systems), are also hardly affected by electromagnetic interference fields, as often occur in industrial environments. In this respect, good interference immunity can also be achieved.

According to an expedient embodiment, the detection means implemented in the system may comprise a sensor and the object to be moved may have a mark or identifier that can be detected by this sensor, the detection means being designed to detect the movement by means of a detection of the mark by the sensor to put second operating mode. This makes it possible to achieve a particularly reliable or clearly initiatable change between the respective operating modes of the system.

[0023] In particular, this is a solution variant which enables reliable detection of a physical association of the movement default means with a specific object. The spatial position or orientation of this object is known to the control device of the manipulator or can be determined by the control device of the manipulator. In addition to a relatively unambiguous criterion for switching between the operating modes regarding the further determination of the orientation of the movement specification means, this can also ensure that movement of the manipulator is only enabled or enabled if the movement specification means is located at an explicitly provided and marked point of the object is attached.

In order to be able to keep unintentional or surprising triggering of movements of the manipulator behind the operator, it can further be provided that an input or switching element to be actuated by the operator is formed on the movement specification means, with which input or switching element the control device can be signaled that the movement specification means has been coupled to the object and that a readiness to carry out movement movements of the object can be signaled via the manipulator.

According to an advantageous embodiment, the detection means can also be designed to evaluate the signals of the inertial sensors during a defined observation period, the detection means being set up for the case that

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AT 518 481 B1 2018-09-15 Austrian patent office, these signals with regard to the acceleration of the movement specification means and / or with regard to the speed change of the movement specification means calculated from this acceleration and / or with regard to the change in position or orientation of the movement specification means during the defined observation period below a defined first limit value and / or remain below a defined fluctuation range, to put the system into the second operating mode. Due to this advantageous embodiment, the acceleration or inertial sensors integrated in the movement preset means are used to automatically detect the state of the rest position of the movement preset means and then to switch to the second operating mode and to maintain or save the orientation last determined for the time being unchanged and subsequently based on the control side information about the movement state of the object. In particular, use can be made of the fact that there will always be at least a certain fluctuation or a slight tremor when the movement presetting means is guided freehand. If, on the other hand, the movement preset means is put down or mechanically coupled to a stationary object carried by the manipulator, a significantly smaller residual signal remains from the inertial sensors, which may have a certain constant offset component as an error, but will not show any significant fluctuations.

[0026] The specified technical measures for implementing the system determine or determine movement-related changes in the orientation of the object by the manipulator. The control device of the manipulator can thus transmit information or data about the orientation or about the continuous changes in the orientation of the object to the orientation determination unit. The orientation determination unit can subsequently be designed to determine, in particular to calculate, the continuously changing orientations of the movement specification means based on the information transmitted or provided by the control device of the manipulator in the second operating mode. These particularly advantageous measures make it possible for the orientation of the movement specification means to be determined continuously from the change in the orientation of the workpiece which is initiated by the control system and is therefore mapped in terms of data technology, during the period in which the movement specification means is coupled to an object or workpiece moved by the manipulator and does not have to fall back on the faulty or drifty measurement data of the inertial sensors. An influence of the drift of the inertial sensors is therefore reliably prevented during this phase or without any negative effect, and the period of use of the movement specification means until the next required calibration process can thus be considerably extended or the frequency of the required calibrations can be significantly reduced.

Furthermore, the detection means can be designed to transmit a first blocking signal to the control device or to an independent safety control of the manipulator, which prevents the execution of movements of the manipulator when the detection means detects that the movement specification means is moved freely in space by hand , As a result, it can also be recognized when the movement specification means suddenly detaches itself or has unwantedly detached from the object or workpiece or component to be moved, which can result in a certain element of surprise for the user and accordingly unintended or uncontrolled movements and operating actions. Subsequently, movement of the manipulator is immediately or automatically prevented. In such a situation, for example, this can also prevent unintentional bumping of the object to be moved against any adjacent objects, for example other building and construction parts.

According to the system, the orientation of the object is determined by the respective pose of the manipulator and the control device of the manipulator can transmit information about the orientation or about the continuous changes in the orientation of the object to the detection means. The detection means can be designed to compare this control-side information on the movement of the object with the movement information on the part of the inertial sensors. In addition, the detection means can be used for this purpose

AT 518 481 B1 2018-09-15 Austrian

See patent office, put the system automatically in the first operating mode when a deviation in the acceleration or the rotational speed derived therefrom or the change in angle between the sensory information on the part of the movement specification means and the information on the part of the control device exceeds a defined second limit value. As a result of this advantageous development, during an active movement of the object held by the manipulator, the movement states of the object known therefrom are constantly compared with the information about the change in the movement state obtained from the inertial sensors. As long as the deviations from this comparison are sufficiently small, the determination of the orientation of the movement default means, while avoiding the drift errors of the inertial sensors, can be carried out solely from the information about the rotational position and movement state of the object or from the data of the control device. However, as soon as a discrepancy between the sensor signals and the control-side movement information is found that lies above a certain threshold, it can be assumed that the orientation of the movement specification means is no longer determined by the object. The further determination of the orientation of the movement default means is then based on the acceleration sensors integrated therein. The change or return to the first operating mode of the system can thereby take place automatically, in particular be carried out directly and independently of any additional sensory information or manual inputs.

According to a further embodiment, the detection means can be designed to carry out the comparison between (i) the control-side information about the movement of the object and (ii) the movement information based on the amount of the inertial sensors, that is, according to the amount of the respective parameter values. This is a simple evaluation with which it is checked in a practical manner whether or to what extent the acceleration or speed of the movement preset means based on the measured values from its sensors match the control-side data or the values calculated therefrom in terms of time and amount.

According to an alternative embodiment, the detection means can be designed to carry out the comparison between (i) the control-side information on the movement of the object and (ii) the movement information based on the inertial sensors vectorially taking into account the direction components of the movement information. Such a vectoral comparison of the acceleration or speed takes into account not only the amounts of these movement parameters, but also the data on the orientation of the movement default means, so that if the deviation of the internally determined orientation is too large or the error is too large, these errors can be identified relatively clearly and reliably.

In order to achieve the most exact possible determination of the changing orientations of the movement default means even after a relatively long period of time, it can also be provided that a memory unit with correction values accessible for the orientation determination unit is provided and the orientation determination unit is designed to measure the sensor values of the inertial sensors in the To be corrected arithmetically in the course of the calculation of the movement information with these correction values.

The orientation of the object - and consequently also a movement specification means attached to it - is determined by the pose of the manipulator assumed in each case. In this context, it is expedient if the control device of the manipulator transmits information about the orientation or about the continuous changes in the orientation of the object to the orientation determination unit at short time intervals or provides such information for retrieval by the orientation determination unit. The orientation determination unit can also be designed to compare this information about the movement of the object with the movement information from the inertial sensors, the orientation determination unit also being designed to adapt the correction values for the computational correction of the sensor values of the inertial sensors such that a deviation of the movement information from the Sen7 / 26 corrected with the correction values

AT 518 481 B1 2018-09-15 Austrian patent office against the movement information according to the information from the control device of the manipulator is minimized.

According to an advantageous development, a collision detection means can be provided or the detection means can be set up to evaluate the signals of the acceleration sensors and to compare them with a third limit value. The collision detection means or the detection means is further provided to transmit a lock signal to the control device or to an independent safety control of the manipulator, which lock signal automatically prevents movement of the manipulator when the third limit value is exceeded. Through this development, the movement of the manipulator is stopped when an unexpectedly high, negative acceleration, in particular an abrupt deceleration, is detected by the acceleration or inertial sensors as a result of a collision of the moving object or of the movement specification means attached to it. As a result, the effects of such a collision can be kept as low as possible in an advantageous manner.

According to an expedient embodiment, a pulse detection means can also be provided or the detection means can be set up to evaluate the signals of the inertial sensors and to compare them with a fourth limit value. The pulse detection means or the detection means is further configured to send a movement command to the control device of the manipulator, by means of which movement command a defined limited movement of the object guided by the manipulator is triggered in the direction of the determined acceleration. Impulse-like impacts can also be recorded by the inertial sensors in the movement setting means when the movement setting means is already attached to or supported on the object to be moved. Because of the relatively characteristic accelerations, such impact or knocking impulses can be reliably recorded or well detected. This means that an object can be set up and positioned in the course of a joining process not only by actuating the actual input means on the movement specification means, but the operator can also carry out minimal positional corrections by lightly tapping the object or by tapping the movement specification means. These measures are similar to a procedure which would also be used in a relatively natural way in the case of an exclusively manual joining process.

It may also be expedient if the movement default means comprises at least one input means in the form of an approval button, which input means is provided for an activation of movements of the manipulator to be deliberately initiated by the operator, and this input means depending on its actuation state for generating a Release signal and for transmission to the control device or to a safety controller of the manipulator is set up. Dangerous conditions or damage in relation to health and material assets, among other things due to misunderstandings or carelessness of the operator, can be prevented effectively.

According to a practical measure, it is provided that the movement default means has a coupling device that can be activated and deactivated as required, which coupling device is provided for the temporary establishment of a releasable connection with respect to the object and for the transmission of forces and moments between the object and the movement default means , As a result, the movement default means can be connected to the object to be moved in a sufficiently rigid or fixed manner and yet detachably in the course of upcoming object movements. The coupling device can preferably be activated and deactivated without tools, so that time-saving and convenient handling is ensured. The corresponding coupling device can in particular be formed by a mechanical clamping or plug connection and / or a suction cup and / or a magnetic holder and / or an adhesive or adhesive surface for repeated, if necessary, releasable gluing to the object.

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Patent Office It is also expedient if the movement default means has at least one input means that can be actuated by the operator to trigger a movement of the manipulator. This input means can be designed in the form of a relatively movably mounted control stick or in the form of a rigid, force-sensitive handle. Input means in the manner of a 6D joystick or a so-called 6D spacemouse are particularly advantageous because all rotational and linear movement specifications can be input directly and intuitively using a single control element. This input means is assigned a direction of movement in relation to a device-specific, local coordinate system of the movement default means, the overall system being set up to convert or transform this direction of movement with respect to the local coordinate system in dependence on the orientation of the local coordinate system in a world coordinate system of the manipulator perform an equivalent or identically oriented direction of movement with respect to the world coordinate system of the manipulator. This provides the operator with a particularly intuitive and error-avoiding system for robot-assisted manipulation or movement control of an object or component. This can increase the efficiency and quality of assembly and manufacturing processes.

Furthermore, it can be provided that the movement default means has an input element, by the actuation of which a change from the first to the second or from the second to the first operating mode can be initiated directly by the operator. Alternatively, provision can be made to use this input element to consciously temporarily change predefined limit values for an automatic change of the operating mode in such a way that this change in the operating mode takes place more quickly, i.e. is forced. It can also be provided that actuation of this input element is included as additional information for a control-technical plausibility check of an automatically initiated change of the operating mode. With the measures mentioned, user-friendliness and quality of use on the one hand and system behavior on the other hand can be favored.

According to an advantageous embodiment, it can also be provided that the movement default means has a display element, which display element is set up to signal to an operator whether the system is in the first or in the second operating mode. These measures can also increase user friendliness. In addition, system use that is planned or proper can be promoted after erroneous operating actions can be stopped. Delays due to unsuitable operating procedures or incorrect applications can also be avoided.

It is also expedient if the movement specification means can be coupled with the control device via a wireless communication link, in particular a radio link. As a result, the freedom of movement of the operator can be favored in comparison to a cable connection. This also has a positive influence on the overall ergonomics and manageability.

[0041] The object of the invention is also achieved by a method with the steps or procedural measures specified below.

The inventive method for moving an object spatially by means of a manipulator controlled by an electronic control device, in particular an industrial robot, comprises in particular the steps:

- Establishing an at least temporary movement coupling of the object to be moved with an end effector of the manipulator;

[0044] - Bringing a movement default means, at least temporarily by hand, freely movable in space with inertial sensors built therein into a reference orientation, which reference orientation is predetermined in relation to a world coordinate system of the manipulator and is known to the control device, or which reference orientation can be calculated by the control device is;

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Patent Office - calculating a first transformation matrix for the transformation of direction vectors between a local coordinate system of the movement default means oriented in reference orientation and the world coordinate system of the manipulator relating to the motion default means;

- Moving the movement default means by the operator based on its reference orientation to any desired position on the object to be moved by the manipulator on the object to be moved by the manipulator, the first transformation matrix being updated on the basis of the sensor signals of the inertial sensors in accordance with the change in the orientation of the movement default means;

- Establishing a physical coupling or a rigid movement connection between the movement default means and the object to be moved by the operator;

- Providing a second transformation matrix by the control device of the manipulator, which enables a transformation of direction vectors between the world coordinate system of the manipulator and a effector coordinate system rigidly associated with the end effector according to the pose of the manipulator present at the time of coupling;

- Determination of a third transformation matrix from the first and second transformation matrix, which third transformation matrix enables a transformation of direction vectors between the local coordinate system of the movement default means and the effector coordinate system rigidly associated with the end effector;

- Continuous actuations of the movement default means in those directions of operation which at least partially correspond to the intended directions of movement of the object and detection of directional information about the operator's continuous operations performed on the motion default means and repeated provision of a second updated according to the pose of the manipulator currently available at the time of provision Transformation matrix by the control device and continuous transformation of this directional information by means of the second and third transformation matrix into the world coordinate system of the manipulator and initiation of movements of the manipulator by its control device in such a way that movement directions of the object at least partially correspond to the directions of actuation initiated by the operator on the movement specification means.

The measures according to the invention in particular enable absolutely intuitive movement control of the object or the manipulator. The operator is completely spared the need to think in different coordinate systems and the actuation or activation directions adapted to them in relation to the movement default means or its input means. The time required for assembly or joining processes can thereby be shortened and at the same time a high positioning accuracy of objects to be moved can be achieved. A major advantage of the measures according to the invention is that the inevitable drift behavior of the inertial sensors and the mathematically caused error accumulation due to the required integral or sum operation or the limited calculation accuracy in connection with the processing of the signals from the inertial sensors hardly or not at all affect the achievable positioning accuracy of the object or the movements of the manipulator. In particular, according to the invention, from the point in time at which the movement preset means are coupled to the object guided by the manipulator, the changing orientations of the movement preset means are determined continuously or at least in comparatively short time intervals directly and solely from the rotational position information of the object or the end effector, i.e. without resorting to previously added incremental changes in orientation. A progressive increase in the drift error as a result of the summation or integration of the faulty sensor signals is thereby prevented or such a drift error is regularly eliminated at short intervals before a disturbing extent is reached.

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Patent Office [0052] The manipulator movements desired in each case are initiated in a comfortable manner by the operator's actuating actions in relation to the sections or adjusting elements of the movement default means provided for this purpose. These operating actions or forces on the part of the operator can cause slight relative adjustments of partial sections or adjusting elements of the movement default means. Alternatively, it is also possible to detect only the respective force or pressure effects with respect to the movement presetting means and their direction of action, to map them with corresponding direction signals or direction data and to subsequently convert them into corresponding control commands for movement control of the manipulator. It is particularly expedient for the operator to actuate the movement default means by pulling, pushing, tilting or rotating against the motion predetermined means in those operating directions which at least partially correspond to the directions of movement of the object intended by the operator.

A significant advantage of the measures according to the invention is also that the period of time after which a recalibration of the system is required due to the inevitable drift behavior of the inertial sensors or the data generated therefrom can be significantly extended. In particular, the actions required from time to time to recalibrate the system can possibly be extended to periods of time that are sufficient for the completion of a specific assembly or joining cycle in the manufacturing process, so that such an assembly or joining cycle is no longer interrupted by a recalibration must become.

For a better understanding of the invention, this will be explained in more detail with reference to the following figures.

[0055] Each shows in a highly simplified, schematic representation:

[0056] FIG. 1 shows an embodiment of a system according to the invention with an articulated arm robot as a manipulator for an object or component to be moved spatially;

[0057] FIG. 2 shows a schematic representation of a movement specification means, as can be used in the system according to FIG. 1.

In the introduction, it should be noted that in the differently described embodiments, the same parts are provided with the same reference numerals or the same component names, and the disclosures contained in the entire description can be applied analogously to the same parts with the same reference numerals or the same component names. The location information selected in the description, e.g. above, below, to the side, etc., referring to the figure described and illustrated immediately, and if the position is changed, these are to be applied accordingly to the new position.

FIG. 1 shows an embodiment of a technical system 1 for the spatial movement of an object 2 by means of a manipulator 3. The manipulator 3 can in particular be formed by an industrial robot, for example as a 6-axis articulated arm robot. The object 2 to be moved in space by this manipulator 3 is in particular formed by a component to be assembled or by a workpiece, such as a windshield, a vehicle seat or the like.

The object 2 is carried or picked up by the manipulator 3 and moved in space according to the specifications of an operator, for example added to a semi-finished product. Accordingly, the respective object 2 is at least temporarily motion-coupled to the manipulator 3. For this purpose, the manipulator 3 can have any end effectors 4, for example a mechanical gripper, suction cups, magnetic couplers or other devices for releasably coupling an object 2 to the manipulator 3. The corresponding automation system 1 comprises at least one movement default means 5, which can be moved by an operator of the system 1 at least temporarily by hand in the room. This means that this electromechanical movement setting means 5 is at least 11/26 past

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Patent office is portable or mobile and can be moved or guided freely by the operator in the room. In this free or unbound phase of the movement default means 5, it is possible to characterize the movements carried out with this, in particular its changes in orientation, at least temporarily by means of corresponding sensor signals based on internal acceleration or inertial sensors and to record these sensor signals or to use them almost in real time. The corresponding recordings or evaluations of the sensor signals take place in connection with the implementation of the specified process sequence or on the basis of an explicit command from the operator. This means that not all movements of the movement default means 5 are recorded or that there is no need for an uninterrupted evaluation of the movements or changes in orientation.

[0061] The movement-predetermined means 5, for example in the form of a handle or a rod, is also provided for an at least temporary physical coupling with the object 2 to be moved by the manipulator 3. Especially in this temporary coupling state of the movement specification means 5 with respect to the object 2 to be moved, the movement specification means 5 is provided for the delivery of control or movement commands by the operator to an electronic control device 6 of the manipulator 3. The manipulator 3 or its end effector 4 together with the object 2 can thus be moved based on the specifications or movement commands of the operator, which corresponds to a hand-held movement control for the manipulator 3 and can ultimately be understood as a cooperative interaction between the operator and the manipulator 3 ,

The control device 6 of the manipulator is shown here as a central, locally assigned unit. Of course, it is also possible to provide a plurality of distributed or decentrally arranged control units, wherein these distributed control units as a whole can form the control device 6 of the system 1. In particular, a control device 6 'can also be provided within the movement default means 5, which cooperates with the stationary or robot-side control device 6 and thus functionally supplements or completes the control device 6. For the sake of simplicity, only the control device 6 or 6 'is spoken of below, which can be organized centrally and / or decentrally.

The control device 6, 6 'each comprises at least one processor or microcontroller, the functional sequences of which are defined in terms of software or which are each programmed by means of software. As is known per se, these software-technical means are stored in electronic storage devices.

As can best be seen from an overview of FIGS. 1 and 2, at least one inertial sensor 7 or at least one inertial measuring unit (IMU) is integrated in the portable or mobile movement specification means 5. These inertial sensors 7 are expediently embodied in semiconductor technology, in particular implemented in MEMS technology (micro-electromechanical systems). With these inertial sensors 7, it is possible to record or ascertain at least the spatial orientation or the changes in orientation of the movement specification means 5 in three-dimensional space. In principle, the spatial position (pose), ie the combination of spatial position and orientation, can also be determined with the inertial sensors 7. For the purposes of the method sequence according to the invention, however, the determination of the changing orientations of the movement default means 5 is sufficient and the relatively imprecise or less time-stable position determination can advantageously be dispensed with.

In particular, a software-technical orientation determination unit 8, 8 'is implemented in the system 1, which is provided for the continuous determination of the changing orientations of the movement default means 5 in relation to the three-dimensional space. The orientation determination unit 8, 8 'can be provided in a combinatorial manner in the control devices 6, 6', or only one of the control devices 6, 6 'can be significantly implemented. In particular, the at least one orientation determination unit 8, 8 'calculates

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On the basis of existing signals or data provided by the inertial sensors 7, at least the respective orientation (orientation) of the movement specification means 5 or the respective temporal changes in the orientation of the movement specification means 5, as described in detail below. On the part of the orientation determination unit 8, 8 ', the determination of the spatial position of the movement default means 5 can be dispensed with. A determination of the spatial position of the movement specification means 5 using the integrated inertial sensors 7 would be relatively error-prone or of increased susceptibility to drift compared to the determination of the respective orientation of the movement specification means 5. Accordingly, the orientation determination unit 8, 8 ′, based on the sensor signals or data from the inertial sensors 7, preferably exclusively determines the respective orientation or changes in orientation of the movement default means 5 in relation to the three-dimensional space or in relation to the world coordinate system of the manipulator 3.

[0066] In order for the operator to be able to specify the most intuitive movement possible or to issue movement commands as clearly as possible with respect to the manipulator 3 or its control device 6, the respective orientation of the movement specification means 5 in space is primarily decisive. In particular, the control-related execution of at least one of the movement commands, which are initiated by the operator via the movement specification means 5, is at least partially dependent on the current orientation of the movement specification means 5.

The automation system 1 further comprises at least one electronic or software evaluation or detection means 9, 9 '. This software-technical detection means 9 or 9 ″ implements a plurality of technical measures or functionalities on a software-technical basis or the detection means 9, 9 ″ is provided for providing functions as described in the introduction and in the following in detail. The program or software-technical detection means 9, 9 'can in turn be implemented both in the control device 6 and in the control device 6', or alternatively can be implemented in only one of these control devices 6, 6 '. With regard to the functions implemented, the detection means 9, 9 'can also be understood or referred to as evaluation means. On the one hand, this primarily software-implemented detection means 9, 9 'can be provided to put the system 1 into a first operating mode when the movement specification means 5 is moved freely by hand by the operator and in the meantime at least determines or changes in the orientation of the movement specification means 5 or should be recorded. This detection means 9, 9 'is further provided for transferring the system 1 into a second operating mode if the respective spatial orientations or changes in orientation of the movement default means 5 due to its mechanical contacting or coupling with the object 2 to be moved by the object movements, are defined by the movements of the manipulator 3.

The corresponding switches or changes in the respective operating modes of the system 1 are not to be interpreted as switching operations in the actual sense, but rather to be understood as program jumps or as a change of state in the data processing of the system 1, as is known to the person skilled in the art are well known in principle. According to an essential aspect of the invention, it is provided that in the first operating mode, in which the movement setting means 5 can be moved freely in space, the changing orientations of the movement setting means 5 are calculated or ascertained on the basis of signals from the inertial sensors 7. In contrast, the orientation determination unit 8, 8 'calculates or determines the changing orientations of the movement specification means 5 either continuously or at least recurrently in comparatively short time intervals exclusively on the basis of information when the second operating mode is present, in particular when the movement specification means 5 is firmly coupled to the object 2 to be moved or technical assumptions on the part of the control device 6 of the manipulator 3. In particular, the control device 6 of the manipulator 3 has the respective position, speed and / or acceleration states of the

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Manipulator 3 or the object 2 moved with it at any time, so that the orientation determination unit 8, 8 'can also calculate or determine the orientation of the movement specification means 5, which is rigidly coupled or interacting with it, in relation to the three-dimensional space. As a result, when the second operating mode is present, drift influences on the part of the inertial sensors 7 can either be completely ruled out or, in the long term, can be kept negligibly low, based on the position information of the manipulator, based on the position information of the manipulator. The accuracy or the long-term stability of the orientation determination in relation to the movement default means 5 can thus be considerably improved.

On the basis of the respective orientation of the movement default means 5, which is firmly or essentially rigidly connected to the object 2 to be moved during the second operating state, the control device 6, 6 '- taking into account the direction or movement commands, control commands or control commands for the various drive devices of the manipulator 3, which are entered manually by the operator via the input means 17 of the movement specification means 5. The various drive devices are in particular assigned to the respective joint axes of the manipulator 3, although not all of the drive devices present as a whole do not always have to be activated or activated in order to be able to carry out the specified movement of the object 2. In connection with the measures according to the invention it is achieved that the directions of the continuous actuations of the movement default means 5 on the part of the operator, in particular their tensile, pressure, tilting or turning stresses with respect to the motion default means 5, correspond directly to the intended directions of movement of the object 2 and the control device 6, 6 'or the system 1 implements or transforms the corresponding actuation directions in such a way that the final object movements in relation to the three-dimensional space correspond to these actuation directions introduced on the movement specification means 5, in particular are aligned or at least oriented in parallel. In terms of control technology, it can also be provided that movement of the object 2 is only possible along a specific trajectory or in a specific channel along such a trajectory, or that certain degrees of freedom are blocked or limited, so that a desired movement specification is only partial, i.e. in terms of released degrees of freedom. Overall, a particularly intuitive controllability or specified movement in relation to the manipulator 3 is guaranteed for the operator. The corresponding control procedure or the conversion and transformation procedure implemented for this is described in detail below.

Several coordinate systems and various transformation matrices for converting the coordinates of vectors from one coordinate system (reference system) into another coordinate system play a special role in the implementation of this method:

A world coordinate system K _w , in which the orientation of the end effector 4 of the manipulator 3 and the reference orientation for the movement default means 5 are known or can be determined.

- A local coordinate system K _{L of} the movement specification means 5. This local coordinate system K _L is rigidly linked to the housing of the movement specification means 5 or to a reference point of the device. The direction of deflections of operating elements or of operating forces of the operator is first recorded in this local coordinate system K _L.

- An effector coordinate system K _E rigidly linked to the end effector 4 and during the fixation of an object 2 to the end effector 4 also with this object 2. The orientation of this effector coordinate system K _E , also referred to as the hand coordinate system, can be determined at any time in relation to the world coordinate system K _w via the angular positions of the joints of the manipulator 3.

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AT 518 481 B1 2018-09-15 Austrian Patent Office [0074] In a first step, the movement specification means 5 is brought into a reference orientation known or determinable in the world coordinate system K _w . This reference orientation is defined by the alignment of a reference coordinate system K _R with respect to the world coordinate system K _w . It can be specified as a transformation matrix T _WR , or, for example, also in the form of three angles, which in turn can be converted into such a transformation matrix. The transformation matrix also makes it possible to convert the representation of any direction vector between the two coordinate systems.

The following relationship applies to the coordinates of a vector a _w in the world coordinate system K _w and the same vector a _R in the reference coordinate system K _R :

= Γ, and

WR a _R

T'wR

y _R ^Z R / (tn ^f 12 t ₂ i ^f 22 V31 ^f 32

^a R - T _R w ' ^a W' ^X M / \

Vw I and> ^z w)

Τ '_' Τ '- 1 τΓ

RW - ¹ WR - ^l WR with tu ^f 12 tl3 ^f 21 ^f 22 ^f 23

where T ¹ denotes the inverse of the matrix and allows a coordinate transformation in the opposite direction. Since the rotating matrices described are mathematically so-called orthogonal matrices, it also applies to this special case that the inverse of such a matrix is equal to the transpose of the matrix, which considerably reduces or practically eliminates the computational effort for inversion in practice.

If the movement default means 5 is oriented in the reference direction (reference orientation), for example if it has been brought into a defined calibration position with a predetermined corresponding orientation, then the local coordinate system K _{L has the} same orientation as the reference coordinate system K _R , so that in this position the direction of actuation an operating element, which is recorded in the device with reference to its local coordinate system K _L , can be transformed into the world coordinate system K _w with T _W r (this corresponds to the “first transformation matrix” from method step c. of the method claim). In principle, although in terms of hardware technology is somewhat more complex or overall more complex, instead of taking a previously known calibration orientation, a special method for one-time determination of the orientation of the movement default means 5 could also be carried out, for example by means of external sensor systems, such as cameras in conjunction with optically perceptible markings, the orientation in the world coordinate system K _w from either the camera or the marker is known and in the course of the calibration process the relative orientation of the respective other system, which is connected to the movement specification means 5, is optically determined. A calibration could also be carried out by placing the movement default means 5 on a surface with an orientation known or determinable in the world coordinate system K _w together with the direction of gravity which can be determined via the inertial sensors 7, the calibration surface used not being perpendicular to the direction of gravity (not horizontal), but rather The direction of gravity should be as parallel as possible or at the smallest possible angle to this surface. The result of the calibration process is in any case a transformation matrix T _W r or a mathematically equivalent representation.

So that such an actuation direction can still be transformed into the world coordinate system K _w even after the movement of the preset means 5 from the reference orientation into an orientation freely selectable by the user, the transformation matrix T _WL (n) is in discrete-time steps n by small values AT _L (n) to update, which describe the rotation of the movement default means 5 per time step, which is determined from the measured values of the inertial sensors 7, whereby different methods can be used in order to keep errors and uncertainties in the measured values as low as possible and values that are as accurate as possible to get for AT _L (n). The relevant specialist literature on

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Inertial navigation provides various suggestions.

The following applies at a discrete point in time n: a _w (ri) = T _WL (n) a. _L (n) with T _WL (0) = Twr and Twl (t7 + 1) = Twl (h) ΔΤ _Ε (π) This corresponds to updating the first transformation matrix according to method step d.

After the movement default means 5 has now been moved by the user to a location on the object 2 to be moved which is suitable for further handling and has been fixed at a discrete point in time k to the object 2 by means of suitable means, for example via a magnetic holder, Velcro fastener, adhesive surface or by means of a suction cup or the like, the orientation of the movement default means 5, apart from the measurement and calculation inaccuracies, is described by the last valid value of the transformation matrix T _WL (k), which has been continuously updated up to that point, and is therefore known with sufficient accuracy. This is particularly because the time span for moving the movement specification means 5 from the reference position into the desired position on the object 2 will usually be short compared to the subsequent phase in which the object 2 is moved, set up and assembled in accordance with the operator's specifications. Accordingly, the sensor errors of the inertial sensors 7 and the integration errors have only a relatively minor effect on the control or movement processes.

The object 2 to be moved is gripped by the end effector 4 or by a gripper or a similar holding device of the manipulator 3 at the latest from this point in time and fixed as rigidly as possible, in order then subsequently moved by the manipulator 3 in the direction desired by the operator and being able to be rotated.

The control device 6, 6 'of the manipulator 3 transmits information about the orientation of an effector coordinate system K _E rigidly linked to the end effector 4, for example a so-called hand coordinate system, from which a transformation of vectors between the world coordinate system K _w and the effector coordinate system K _E can be derived. This information is usually already provided in the form of a transformation matrix, for example T _WE (k) (this is the “second transformation matrix” from method step f).

While the object 2 to be moved is fixed or guided by the manipulator 3, the hand or effector coordinate system KE is also an object coordinate system rigidly linked to the object 2, with which, in turn, as long as the movement specification means 5 is mechanically connected to the object 2 is coupled, the local coordinate system K _{L of} the movement default means 5 is rigidly coupled.

It can now (while the object 2 is coupled to the manipulator 3 and the movement specification means 5) a constant transformation matrix T _EL for the transformation of a direction vector from the local coordinate system K _{L of} the movement specification means 5 into the effector coordinate system K _E (the “Third transformation matrix” from process step g.) The following applies: T _EL = T _E ^ k) T _WL (k) = T _WE (k) T _WL (k) [0087] During the presence of a fixed coupling of the object 2 with the movement specification means 5 and with the manipulator 3, a transformation matrix for the transformation of a direction vector from the local coordinate system K _L into the world coordinate system K _w can now be specified at any discrete point in time m, which no longer has to be determined from the data of the inertial sensors 7 and which also does not cause a numerical or algorithmic error accumulation, because it consists exclusively of the known joint angles of the Manipulator 3 or can be determined by the kinematics of manipulator 3.

The following applies: '/' w / Oii) = Twe (jiT> · Tel [0089] If the movement specification means 5 has been released from the object 2 in the meantime and

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For example, if the patent office is moved from the operator to another, more suitable and ergonomically more favorable position on the object 2 for the respective assembly step, the change in the T _WL {m) is again based on the measured values of the inertial sensors 7 in the movement specification means 5 and the results thereof derived, incremental changes in orientation bT _L (ni) are determined and a constant matrix T _{EL is} determined again when the movement preset means 5 is attached to the object 2.

Between the discrete points in time m, m + 1, ..., the matrix T _WL or the matrix T _WE can also extrapolate from the course of past values for intermediate points in time that are more finely resolved or shifted, or also using the sensor signals of the inertial sensors 7 can be updated analogously to the first operating mode. This can be expedient if the data from the control device 6 should not be available at the frequency required for the transmission of the movement commands or at the required times. It is essential according to the invention, however, that the time intervals of those update times m, m + 1, ... at which an orientation determination is made on the basis of the information from the manipulator controller 6 are short and that at each of these update times the drift or extrapolation errors accumulated up to that point be equalized again so that these errors can only ever reach a negligibly small extent, even if the movement specification means 5 is coupled with the object 2 for any length of time and is operated in the second operating mode.

The reference orientation known to the control device 6 or depicted therein in terms of data technology for the movement specification means 5 can be defined, for example, by a horizontal support surface or by a platform-like support surface for the movement specification means 5, as was schematically illustrated in FIG. 1. This provides, for example, parallelism with the z-axis in the world coordinate system K _{w of} the manipulator 3 or parallelism with respect to a polar axis or zenith direction (direction of gravity). In order to also define the alignment angle about this axis, a predefined identifier, for example a flattening, a bevel or an extension, can be formed on the movement specification means 5, which identifier is to be brought into alignment with a corresponding or opposing identifier. When the movement specification means 5 assumes this predefined spatial orientation (alignment), the movement specification means 5 is in a reference orientation, which is stored in the system 1 or in the control device 6 for data technology purposes. When this reference orientation is adopted, the local coordinate system K _{L of} the movement default means 5 is then in a defined orientation, that is to say in a known correlation to the world coordinate system K _{w of} the manipulator 3. The reference orientation can, however, also be defined by a specific point or edge on the object 2 to be moved be, or be formed by a certain point or edge on the manipulator 3 itself. It is essential that the orientation of the movement default means 5 with respect to the three-dimensional space is clearly defined when the reference orientation is taken, and this orientation of the control device 6 of the manipulator 3 is known or can be determined by it.

The vector calculations or coordinate transformations described above are expediently carried out in the control device 6 of the manipulator 3, wherein at least preprocessing of the corresponding data or signals can also be carried out in the control device 6 ″ of the movement default means 5.

A wireless communication link 10 is advantageously provided for data communication between the control devices 6, 6 '.

This wireless communication link 10 comprises corresponding radio transmission and reception devices 11, 11 'on the control device 6 side and on the movement default means 5 side. In particular, these transmission and reception devices 11, 1T can be used to establish a radio connection between the components mentioned , whereby the ergonomics of use or practicality of the system 1 is favored. The data communication via this radio communication link 10

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Patent office can be carried out, for example, according to the Bluetooth, WLAN, or Zig-Bee standard or according to other communication standards.

After the functionalities or processes of the control device 6, 6 'or the orientation determination unit 8, 8' implemented therein or the detection means 9, 9 'implemented therein can be implemented in a software-based manner, a series of evaluation, checking and plausibility checks can be carried out be made as explained in the introductory part of the present description of the invention. The functionality, practicability, system security and / or positioning accuracy of the specified technical system 1 can be increased with these expedient evaluation or plausibility checks.

In terms of construction, at least one switching element 12 which can be actuated by the operator can be formed on the movement default means 5, with which switching element 12 of the control device 6, 6 'a coupling of the movement default means 5 with respect to the object 2 and also a willingness to carry out movements of the Object 2 can be signaled via the manipulator 3. This switching element 12 is expediently defined by a push-button switching element and arranged at a location on the surface of the movement specification means 5 that is easily accessible to the operator.

In order to increase the functional safety or system security, the control device 6 of the manipulator 3 can also be assigned a specially programmed safety control 13. This safety controller 13 can be structurally independent, or it can represent a structural unit combined with the control device 6 in terms of hardware. The safety controller 13 is provided in particular for monitoring safety-relevant states and for receiving or evaluating safety-relevant signals or blocking signals.

Furthermore, at least one input means 14, in particular in the form of an enabling button 15, can be formed on the movement default means 5. This input means 14 is provided for an activation or release of movements of the manipulator 3 to be consciously initiated by the operator. This input means 14 is provided in particular as a function of its operating state for generating an enable signal and for transmitting it to the control device 6 or to a safety controller 13 of the manipulator 3.

At least one coupling device 16, which can be activated and deactivated as required, is formed on the movement default means 5 for the releasable connection to the object 2 to be moved. This coupling device 16 is set up for the temporary establishment of a releasable connection with respect to the object 2 and for the transmission of forces and moments between the object 2 and the movement default means 5. The corresponding coupling device 16 can be formed by a mechanical clamping or plug connection and / or by at least one suction cup and / or by a magnetic holder and / or by an adhesive or adhesive surface for repeated releasable gluing to the object 2 as required. The coupling device 16 can also be formed by a support device formed on the movement specification means 5, which is pushed by the operator against the surface of the object 2 and which can also transmit forces and moments transversely to the pressing direction by means of friction, the contact pressure applied by the user after the release of the Robot movement is maintained in terms of control technology and thus object 2 follows the movement specifications of the operator.

Furthermore, the movement default means 5 comprises at least one input means 17 which can be actuated or influenced by the operator on the basis of switch contacts, but preferably on a sensor basis for detecting actuation movements or actuation forces, as is known from the prior art. This at least one input means 17 is used to record control commands or operating actions on the part of the operator. This input means 17, which preferably consists of a plurality of sensors for detecting forces, pressures or other physical quantities

AT 518 481 B1 2018-09-15 Austrian

Patent Office is formed, directions of movement are assigned in relation to the local coordinate system K _{L of} the movement default means 5 which is fixed to the device. The automation system 1 is then set up, depending on the orientation of the local coordinate system K _L in the world coordinate system K _{w of} the manipulator 3, to convert or transform these directions of movement with respect to the local coordinate system K _{L of} the movement default means 5 into equivalent or equally oriented directions of movement on the world coordinate system K _{w of} the manipulator 3, as described above in detail.

The movement default means 5 may further have an input element 18, by the actuation of which a change from the first to the second or from the second to the first operating mode can either be initiated directly by the operator, or with which input element 18 predefined limit values for an automatic change of the Operating mode are temporarily deliberately changeable in such a way that this change of the operating mode takes place more quickly, or that an actuation of this input element 18 is included as additional information for a control-technical plausibility check of an automatically initiated change of the operating mode. Furthermore, the movement specification means 5 can have at least one visually detectable display element 19, which display element 19 is set up to signal to an operator whether the system 1 is in the first or in the second operating state.

[00102] According to one embodiment, it is also possible for the movement default means 5 or its detection means 9 ′ to comprise a sensor 20 and the object to be moved has a marking or identifier that can be detected by this sensor 20. In this context, the detection means 9 'is designed to put the movement default means 5 into the second operating mode when the marking 20 is detected by the sensor 20.

If necessary, a memory unit 21, 21 'can also be provided, which is provided for the storage of correction values which can be read out or used by the orientation determination unit 8, 8'. In particular, it can be provided that the orientation determination unit 8, 8 ′ corrects the sensor signals of the inertial sensors 7 arithmetically in the course of the calculation of the movement information with these correction values, in order to achieve a more precise or long-term usable movement or orientation determination.

In order to be able to carry out the control-related operations within the mobile movement preset means 5, at least one electrochemical energy source 22, for example a battery or a rechargeable accumulator, is provided in the housing thereof. This electrochemical energy source can be charged via electrical contacts or via inductive coupling.

The exemplary embodiments show possible design variants, it being noted at this point that the invention is not restricted to the specially illustrated design variants of the same, but rather also various combinations of the individual design variants with one another are possible and this variation possibility is based on the teaching of technical action The present invention resides in the ability of the person skilled in the art in this technical field.

The scope of protection is determined by the claims. However, the description and drawings are to be used to interpret the claims. Individual features or combinations of features from the different exemplary embodiments shown and described can represent independent inventive solutions. The object on which the independent inventive solutions are based can be found in the description.

For the sake of order, it should finally be pointed out that, for a better understanding of the structure, elements have sometimes been shown to scale and / or enlarged and / or reduced.

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LIST OF REFERENCE NUMBERS

6 '

8, 8 '

9, 9 '

11, 1T 12

21.2T 22

K _w

K _L

K _e

Kr

6 '

8, 8 '

9, 9 '

11, 1T 12

21.2T 22

kw

K _L

K _e

Kr

system

object

manipulator

end effector

Motion specification means

control device

inertial sensors

Orientation detection unit

detection means

communication link

Sending and receiving device

switching element

safety control

input means

Acknowledge button

coupling device

input means

input element

display element

sensor

storage unit

energy

World coordinate system Local coordinate system Effector coordinate system Reference coordinate system

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Claims (23)

claims 1. A method for the spatial movement of an object (2) by means of a manipulator (3), which object (2) is at least temporarily coupled to the manipulator (3) with a movement specification means (5), which is at least temporarily released by an operator manually Space is movable, and which movement specification means (5) is provided at least temporarily for physical coupling with the object to be moved (2), in which coupling state the movement specification means (5) for issuing movement commands on the part of the operator to a control device (6, 6 ' ) of the manipulator (3) is provided, with inertial sensors (7) in the movement specification means (5) for detecting at least changes in orientation of the movement specification means (5), with an orientation determination unit (8, 8 ') for continuously determining the changing orientations of the movement specification means (5) in the room, the control engineering version of at least one de r movement commands is at least partially dependent on the orientation of the movement specification means (5), and with a detection means (9, 9 ') which puts the system (1) into a first operating mode when the movement specification means (5) is moved freely in space by hand and which detection means (9, 9 ') puts the system (1) in a second operating mode if the orientation of the movement specification means (5) is defined as a result of mechanical contacting or coupling with the object (2), characterized in that in the first operating mode the Orientation determination unit (8, 8 ') calculates the changing orientations of the movement specification means (5) based on signals from the inertial sensors (7) in the movement specification means (5), and in the second operating mode the orientation determination unit (8, 8') calculates the changing orientations of the movement specification means (5) at least at defined, short-spaced times based exclusively on info The control device (6) calculates rmations on the position states or position changes of the manipulator (3) controlled by the control device (6) or the correspondingly moved object (2) that are known to it. 2. The method according to claim 1, characterized in that the detection means (9, 9 ') comprises a sensor (20) and the object (2) has a mark or identifier detectable by this sensor (20), the detection means (9, 9 ') as a result of detection of the marking or identifier by the sensor (20), the system (1) is placed in the second operating mode. 3. The method according to claim 1 or 2, characterized in that a switching element (12) operable by the operator is formed on the movement setting means (5), with which switching element (12) of the control device (6, 6 ') a coupling of the movement setting means ( 5) relative to the object (2) and also a readiness to carry out movements of the object (2) via the manipulator (3) can be signaled. 4. The method according to any one of the preceding claims, characterized in that the detection means (9, 9 ') evaluates the signals of the inertial sensors (7) during a defined observation period, and that the detection means (9, 9') for that case Signals relating to the acceleration of the movement specification means (5) and / or with regard to the change in speed of the movement specification means (5) calculated from this acceleration and / or with regard to the change in position or orientation of the movement specification means (5) during the defined observation period below a defined first limit value and / or remain below a defined fluctuation range, the system (1) is switched to the second operating mode. 21/26 AT 518 481 B1 2018-09-15 Austrian Patent Office 5. The method according to any one of the preceding claims, characterized in that the movement-related changes in the orientation of the object (2) are determined by the manipulator (3), and that the control device (6) of the manipulator (3) information about the orientation or transmits the continuous changes in the orientation of the object (2) to the orientation determination unit (8, 8 ') or makes them available for the orientation determination unit (8, 8'), and that the orientation determination unit (8, 8 ') in the second operating mode provides the continuously changing orientations of the movement specification means (5) is determined on the basis of the information transmitted or provided by the control device (6) of the manipulator (3). 6. The method according to any one of the preceding claims, characterized in that the detection means (9, 9 ') to the control device (6) or to an independent safety controller (13) of the manipulator (3) transmits a first blocking signal which indicates the execution of movements of the manipulator (3) prevents, when the detection means (9, 9 ') detects that the movement specification means (5) is moved freely in space by hand. 7. The method according to any one of the preceding claims, characterized in that the orientation of the object (2) is determined by an assumed pose of the manipulator (3) and the control device (6) of the manipulator (3) information about the orientation or about the continuous changes in the orientation of the object (2) are transmitted to the detection means (9, 9 '), and that the detection means (9, 9') compares this information about the movement of the object (2) with the movement information from the inertial sensors (7) , and that the detection means (9, 9 ') further puts the system (1) into the first operating mode if there is a deviation in the acceleration or the rotational speed derived therefrom or the angle change between (i) the information from the control device (6) and ( ii) the sensory information on the part of the movement default means (5) exceeds a defined second limit value. 8. The method according to claim 7, characterized in that the detection means (9, 9 ') the comparison between (i) the control-side information on the movement of the object (2) and (ii) the movement information based on the inertial sensors (7) , i.e. according to the amount of the respective parameter values. 9. The method according to claim 7, characterized in that the detection means (9, 9 ') the comparison between (i) the control-side information on the movement of the object (2) and (ii) the movement information based on the inertial sensors (7) vectorially taking into account the directional components of the movement information. 10. The method according to any one of the preceding claims, characterized in that a memory unit (21, 2T) is provided with correction values accessible for the orientation determination unit (8, 8 ') and the orientation determination unit (8, 8') contains the sensor values of the inertial sensors (7) arithmetically corrected with these correction values in the course of the calculation of the movement information. 11. The method according to claim 10, characterized in that the orientation of the object (2) is determined by the particular pose of the manipulator (3) and the control device (6) of the manipulator (3) provides information about the orientation or about the continuous changes the orientation of the object (2) to the orientation determination unit (8, 8 ') or provides it, and that the orientation determination unit (8, 8') this information about the movement of the object (2) with the movement information from the inertial sensors (7 ), and that the orientation determination unit (8, 8 ') further adapts the correction values for the arithmetical correction of the sensor values of the inertial sensors (7) such that a deviation of the movement information from the sensor values corrected with the correction values compared to the movement information according to the information from the Control device (6) of the manipulator (3) minimi is. 22/26 AT 518 481 B1 2018-09-15 Austrian Patent Office 12. The method according to any one of the preceding claims, characterized in that a collision detection means is provided or the detection means (9, 9 ') evaluates the signals of the inertial sensors (7) and compares them with a third limit value, and that the collision detection means or the detection means (9 , 9 ') also transmits a blocking signal to the control device (6) or to an independent safety controller (13) of the manipulator (3), which blocking signal prevents movement of the manipulator (3) when the third limit value is exceeded. 13. The method according to any one of the preceding claims, characterized in that a pulse detection means is provided or the detection means (9, 9 ') evaluates the signals of the inertial sensors (7) and compares them with a fourth limit value, and that the pulse detection means or the detection means (9 , 9 ') also sends a movement command to the control device (6) of the manipulator, by means of which movement command a defined limited movement of the object (2) guided by the manipulator (3) is triggered in the direction of the determined acceleration. 14. The method according to any one of the preceding claims, characterized in that the movement default means (5) comprises at least one input means (14) in the manner of an enabling button (15), which input means (14) for a deliberate initiation of movements of the operator Manipulator (3) is provided, and this input means (14) generates a release signal depending on its operating state and transmits it to the control device (6) or to a safety controller (13) of the manipulator (3). 15. The method according to any one of the preceding claims, characterized in that the movement specification means (5) has a coupling device (16) which can be activated and deactivated as required, which coupling device (16) for the temporary establishment of a connection, as required releasable, relative to the object (2) and for the transmission of forces and moments between the object (2) and the movement default means (5). 16. The method according to claim 15, characterized in that the coupling device (16) has a mechanical clamp or plug connection and / or a suction cup and / or a magnetic holder and / or an adhesive or adhesive surface for repeated, if necessary, detachable gluing to the object (2 ) includes. 17. The method according to any one of the preceding claims, characterized in that the movement default means (5) has at least one input means (17) which can be actuated or influenced by the operator for triggering a movement of the manipulator (3), which input means (17) have a direction of movement in Relation to a device-specific, local coordinate system (K _L ) of the movement default means (5) is assigned, the system (1) depending on the orientation of the local coordinate system (K _L ) in a world coordinate system (K _w ) of the manipulator (3) Conversion or transformation of this direction of movement in relation to the local coordinate system (K _L ) into an equivalent or identically oriented direction of movement in relation to the world coordinate system (K _w ) of the manipulator (3). 18. The method according to any one of the preceding claims, characterized in that the movement default means (5) has an input element (18), by the actuation of which a change from the first to the second or from the second to the first operating mode can either be initiated directly by the operator, or with which input element (18) predefined limit values for an automatic change of the operating mode can be temporarily changed consciously so that this change of the operating mode takes place more quickly, or that an actuation of this input element (18) as additional information for a control-technical plausibility check of an automatically initiated change of the Operating mode is included. 23/26 AT 518 481 B1 2018-09-15 Austrian patent office 19. The method according to any one of the preceding claims, characterized in that the movement default means (5) has a display element (19), which display element (19) signals to an operator whether the system (1) is in the first or in the second operating mode. 20. The method according to any one of the preceding claims, characterized in that the movement default means (5) via a wireless communication link (10), in particular a radio link, with the control device (6) of the manipulator (3) can be coupled in terms of data technology. 21. Method for the spatial movement of an object (2) by means of a manipulator (3) controlled by an electronic control device (6, 6 '), in particular an industrial robot, comprising the steps: a) producing an at least temporary coupling of the movement of the object (2) to be moved with an end effector (4) of the manipulator; b) removal of a by an operator at least temporarily manually freely in space movable preset movement means (5) is structurally integrated inertial sensors (7) in a reference orientation which reference orientation predetermined of the manipulator (3) with respect to a world coordinate system (K _w) and the control device (6, 6 ') is known, or which reference orientation can be calculated by the control device (6, 6'); c) calculating a first transformation matrix for the transformation of direction vectors between a local coordinate system (K _L ) related to the movement specification means (5) of the movement specification means (5) oriented in reference orientation and the world coordinate system (K _w ) of the manipulator (3); d) bringing the movement default means (5) by the operator, based on its reference orientation, to any desired location on the object (2) to be moved by the manipulator (3), the first transformation matrix being based on the sensor signals of the inertial sensors (7) is updated in accordance with the change in the orientation of the movement preset means (5); e) the operator creates a physical coupling or a rigid movement connection between the movement specification means (5) and the object (2) to be moved; f) providing a second transformation matrix by the control device (6, 6 ') of the manipulator (3), which transforms direction vectors between the world coordinate system (K _w ) of the manipulator (3) and a effector coordinate system rigidly associated with the end effector (4) K _E ) according to the pose of the manipulator (3) at the time of coupling; g) determining a third transformation matrix from the first and second transformation matrix, which third transformation matrix enables a transformation of direction vectors between the local coordinate system (K _L ) of the movement default means (5) and the effector coordinate system (K _E ) rigidly associated with the end effector (4); h) continuous actuations of the movement specification means (5) by the operator in those actuation directions that at least partially correspond to the intended directions of movement of the object (2) and detection of directional information about the actuation actions of the operator continuously carried out on the movement specification means (5), as well as repeated provision of an according the second transformation matrix updated at the time of provision of the manipulator (3) by the control device (6, 6 ') and continuous transformation of this directional information by means of the second and the third transformation matrix into the world coordinate system (K _w ) of the manipulator (3) and introduction of movements of the manipulator (3) by its control device (6) in such a way that directions of movement of the object (2) at least partially correspond to the directions of actuation initiated by the operator on the movement specification means (5) ntsprechen. 24/26 AT 518 481 B1 2018-09-15 Austrian Patent Office 22. The method according to claim 21, characterized in that in step h) between the provision of the updated second transformation matrix provided by the control device (6, 6 ') an update of this second transformation matrix, or the entirety of the second and third transformation matrix based on one Extrapolation from previous values, or based on the signals of the inertial sensors (7). 23. The method according to claim 21 or 22, characterized by an actuation of the movement default means (5) on the part of the operator by pulling, pushing, tilting or rotating loads with respect to the motion default means (5) in those operating directions which correspond to the directions of movement intended by the operator Object (2) correspond at least partially.